Jenny 5 robot

thingiverse

Jenny 5 is a humanoid robot designed for research and human assistance. Learn more at jenny5.org or jenny5-robot.github.io. Inspired by the Johnny 5 robot from Short Circuit, Jenny 5 features a mobile platform with tracks, a flexible leg, two arms with seven degrees of freedom each, and one head. All source files for Jenny 5 are freely available on GitHub under the MIT license. Visit jenny5-robot.github.com to explore. Jenny 5 is easy and affordable to build using readily available components from robotics stores and custom parts printed with a 3D printer. Most materials cost around $2500, as detailed in the Bill of Materials spreadsheet. Jenny 5 was designed using OpenSCAD, a CAD software that allows users to write instructions instead of relying on the mouse to create objects. The platform is powered by two DC motors with planetary gearboxes controlled by a RoboClaw board. The leg is driven by two linear motors also controlled by a RoboClaw board. Each arm has six stepper motors, and each joint features a magnetic sensor for reading its position. Motors and sensors are managed by an A-Star 32U4 Mini board. The gripper is powered by a servo motor connected to the same A-Star 32U4 Mini board as the entire arm. The gripper also features a webcam for object recognition. The head has two degrees of freedom ensured by two stepper motors with magnetic sensors for reading position. The head includes a webcam for object detection and an ultrasonic sensor for distance measurement. All head components are connected to an Arduino Nano board except for the camera. Jenny 5 is powered by two LiPo batteries: one for the platform and foot, and one for the arms and head. A-Star / Arduino boards run a custom firmware called Scufy, which can control multiple stepper motors and read various sensors such as buttons, ultrasonic, potentiometers, infrared, and LIDAR. PC software is built around several libraries that send commands to A-Star/Arduino boards and RoboClaw controllers via serial ports. The robot can be manually controlled using an HTML5 application running in a browser on a smartphone. The app connects to a server running on the robot, which executes commands such as movement and sensor reading. With all these components, Jenny 5 can be utilized in various scenarios, including house cleaning, food preparation, kitchen table cleaning, gardening, surveillance, rescue, disaster management, fire fighting, and more.